Shovel Obstacle-Avoidance Control With Prohibited Area Restriction
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Solution Overview
Problem
The operation of shovels at work sites is hindered by the need to constantly monitor and avoid obstacles like utility poles and power lines, leading to reduced work efficiency due to the lack of effective collision avoidance systems.
Innovation Solution
A shovel equipped with a controller and sensors that detect obstacles, allowing it to set prohibited areas and automatically slow or stop movement when entering these areas, thereby improving operational efficiency by reducing operator attention on obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operator constantly monitors and avoids obstacles manually, then collision avoidance is achieved, but work efficiency is reduced
Solution Approach 1:
The shovel system performs self-monitoring and self-protection by automatically detecting obstacles and controlling its own movement to avoid collisions, eliminating the need for continuous operator attention to obstacle avoidance
Solution Approach 2:
The system continuously receives feedback from sensors about the environment and shovel position, processes this information through the controller, and automatically adjusts actuator commands to maintain safe operation without operator intervention
2Productivity
If the shovel moves freely without restrictions, then work efficiency is high, but collision risk with obstacles increases
Solution Approach 1:
The prohibited area is dynamically adjusted based on the detected position of obstacles and the current state of the shovel, allowing the restricted zone to expand or contract as obstacles appear or disappear, thereby balancing safety with operational freedom
Solution Approach 2:
The controller acts as an intermediary between the operator's movement commands and the actual actuator operation, automatically modifying commands to prevent entry into prohibited areas while allowing unrestricted movement when safe
Data Source
AI summary
A shovel includes a lower traveling body, an upper turning body turnably attached to the lower traveling body, an actuator mounted on the lower traveling body or the upper turning body, and a controller configured to set a prohibited area for an obstacle located in a work area and restrict movement of the actuator. The controller determines whether the shovel has entered the prohibited area, and slows or stops movement of the shovel in response to determining that the shovel enters the prohibited area.